Tribological properties of fiber composite materials were measured and wear resistant hybrid structure was proposed based upon the understanding of tribological behavior of the composite materials. Unidirectional composites with glass fibers, carbon fibers, and aramid fibers were tested for tribological properties in order to propose a wear resistant hybrid structure. Hybrid composites which contain carbon and aramid fibers were prepared, the specimens were sliced by a water-jet cutter, and friction and wear properties were measured. An experimental set-up was designed and built for the friction and wear test of the composite specimens. Unidirectional fiber composite and hybrid composite specimens were tested to evaluated the tribological behavior for biomimetic applications. It is observed that the friction and wear behavior of fiber composites depends upon fiber orientation, sliding speed, and type of reinforcing fibers.